Collision Detection of Robotic Manipulators with Feedback Current
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摘要: 本文以机械臂碰撞检测为研究对象, 提出了一种基于电流变化速度的碰撞检测方法, 弥补动力学模型理论电流的碰撞检测方法存在参数辨识过程复杂、对动力学模型精度要求高等缺点。试验发现在机械臂有碰撞的时候会产生电流突变, 当电流变化速度大于给定的阈值时就判定有碰撞。通过大量试验发现电机不同转速下电流变化速度的阈值也不同, 于是提出电机转速的阈值检测方法, 用电机转速拟合关系式计算出电机在不同转速下的阈值, 从而判断电机在不同转速下是否存在碰撞。最终的碰撞检测试验结果表明, 当碰撞发生时, 机械臂可以快速检测到碰撞并做出相应反应, 达到预期目标。Abstract: This paper takes the robot arm collision detection as the research object. A collision detection method based on current change speed is proposed, which makes up for the shortcomings of imperfect dynamic model and complex parametric identifying. The test found that there is a sudden current change when the manipulator is in collision. Judge it as a collision when the current change rate is greater than a given threshold. The test found that the threshold of the current change rate at different speeds of the motor is also different. Therefore, a threshold detection method for motor speed is proposed to calculate the threshold of the motor at different speeds with the motor speed fitting relationship. Therefore, it is judged whether the motor has a collision at different rotation speeds. The final collision detection experiment results show that when the collision occurs, the robot arm can quickly detect the collision and make corresponding response, achieving the expected goal.
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Key words:
- collision detection /
- dynamic model /
- manipulator /
- current feedback
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表 1 电机不同转速下的碰撞阈值
转速/(°·s-1) 阈值/mA 10 0.58 20 0.73 30 0.98 40 1.13 50 1.33 60 1.58 70 1.76 80 1.96 90 2.23 
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